Mobile apparatus with wheel weight sensors

ABSTRACT

This disclosure describes, in part, wheel apparatuses that includes weight sensors. For instance, a wheel apparatus may include at least a hub, a rim located around the hub, a tire located around the rim, weight sensor(s) located within the rim, and a caster that connects the wheel apparatus to a mobile apparatus. In some examples, the wheel apparatus may include additional components, such as one or more batteries, a generator, and/or a wireless communication interface. As such, the mobile apparatus may use the wheel sensors included in the wheel apparatuses to determine weights, such as weights of items added to the mobile apparatus. In some examples, the wheel apparatuses are configured such that the weight sensors remain perpendicular with respect to a ground plane so that the mobile apparatus may use the weight sensors to determine the weights even when the mobile apparatus is moving.

BACKGROUND

Retail stores maintain an inventory of items in customer-accessibleareas such that customers can pick items from the inventory forpurchase, rental, and so forth. For example, a customer may take itemsfrom shelves located within the store and place the items in a shoppingcart. When the customer is finished identifying and retrieving theitems, the customer may transport the items, using the shopping cart, toa check-out destination within the store, such as a cashier or dedicatedself-checkout stand. In some circumstances, the shopping cart mayinclude sensors, such as cameras and scanners, that are configured todetermine the items that are placed into the shopping cart by thecustomer. In these circumstances, the shopping cart may then update alist of items for the customer, display the list of items to thecustomer, and/or send the list of items to a system for processing of atransaction for the items.

BRIEF DESCRIPTION OF FIGURES

The detailed description is set forth with reference to the accompanyingfigures. In the figures, the left-most digit(s) of a reference numberidentifies the figure in which the reference number first appears. Theuse of the same reference numbers in different figures indicates similaror identical items or features.

FIG. 1 illustrates an example of a mobile apparatus that includes wheelswith weight sensors, in accordance with examples of the presentdisclosure.

FIG. 2 illustrates an example of a first wheel apparatus that includes aweight sensor, in accordance with examples of the present disclosure.

FIG. 3 illustrates an example of a second wheel apparatus that includesa weight sensor, in accordance with examples of the present disclosure.

FIG. 4 illustrates an example of a third wheel apparatus that includes aweight sensor, in accordance with examples of the present disclosure.

FIG. 5 illustrates an example a fourth wheel apparatus that includes aweight sensor, in accordance with examples of the present disclosure.

FIG. 6 illustrates an example of a fifth wheel apparatus that includes aweight sensor, in accordance with examples of the present disclosure.

FIG. 7 illustrates an example of a sixth wheel apparatus that includes aweight sensor, in accordance with examples of the present disclosure.

FIG. 8 illustrates an example of an seventh wheel apparatus thatincludes a weight sensor, in accordance with examples of the presentdisclosure.

FIG. 9 illustrates an example of components of a handlebar module, inaccordance with examples of the present disclosure.

FIG. 10 illustrates example components of a mobile apparatus configuredto support at least a portion of functionality of an item managementsystem, in accordance with examples of the present disclosure.

FIG. 11 illustrates a flow diagram of an example process for determininga weight of an item added to a mobile apparatus, in accordance withexamples of the present disclosure.

FIG. 12 is an example process for using capacitive sensor(s) of aninventory location to detect item events, in accordance with examples ofthe present disclosure.

DETAILED DESCRIPTION

This disclosure describes, in part, mobile apparatuses that includewheels with weight sensors. For instance, a mobile apparatus, such as ashopping cart, may include at least a main frame, a basket that attachesto the main frame, a wheel frame that attaches to the main frame, a traydisposed on the wheel frame, and wheel apparatuses that attach to thewheel frame. Each wheel apparatus may include at least a respectivecaster and wheel, where the wheel includes at least a hub (e.g., axle),circular component(s) (e.g., a rim, a tire, etc.) disposed around thehub, and weight sensor(s) disposed within the circular component. Insome examples, each wheel apparatus may include multiple weight sensors,such as two loadcells, that are coupled to the hub disposed within thecircular component. The mobile apparatus may then receive sensor datagenerated by the weight sensors within the wheel apparatuses. Using thesensor data, the mobile apparatus may determine weights associated withthe mobile apparatus and use the weights to determine a weight of anitem added to the mobile apparatus (e.g., placed within the basket,placed within a shelf, and/or placed on the tray of the mobileapparatus). For example, the mobile apparatus may determine that theweight of the item includes a change in weight that occurs based on theitem being added to the mobile apparatus. The mobile apparatus may thengenerate item data that represents at least an identifier of the item,the weight of the item, the price of the item (which may be based on theweight), and/or any other information about the item.

For more detail, the mobile apparatus may include a frame (referred to,in some examples, as the “main frame” or an “upper frame”) thatincludes, or supports, components of the mobile apparatus. For example,the main frame may include, and/or support, a basket. The basket mayinclude a bottom having a given shape (e.g., a quadrilateral shape, acircular shape, a triangular shape, etc.), sides (e.g., three sides anda gate, four sides, etc.) protruding from the bottom to define areceptacle, and a top having a perimeter that defines an opening of thereceptacle to receive items that are placed within the basket.Additionally, the main frame may include, and/or support, a handlebarmodule. The handlebar module may include one or more sensors (e.g.,camera(s), scanner(s), proximity sensor(s), motion sensor(s), etc.), oneor more lights, a display, one or more processors, one or more memories,and/or any other type of electronic component. In some examples, thehandlebar module may be configured to perform the processes describedherein.

The main frame of the mobile apparatus may be connected to another frame(referred to, in some examples, as the “wheel frame” or a “lower frame”)that includes components for providing mobility to the mobile apparatus.In some examples, the wheel frame may further include, and/or support, atray. The tray may also include any shape (e.g., a quadrilateral shape,a circular shape, a triangular shape, etc.), where tray is also forreceiving items. Additionally, the wheel frame may support wheelapparatuses to enable movement of the mobile apparatus along a surface.

Each wheel apparatus may include at least a respective caster, weightsensor(s), and a wheel, where the wheel includes at least a hub (e.g.,axle) and circular component(s) (e.g., a rim, a tire, etc.) disposedaround the hub. In some examples, and for a given wheel apparatus, theweight sensor(s) may be disposed within the wheel of the wheelapparatus. For a first example, a wheel may include the weight sensor(s)coupled to the hub, where the circular component(s) are then disposedaround the hub. For a second example, and if a wheel includes an innerhub and an outer hub, the wheel may include the outer hub disposedaround the inner hub, the weight sensor(s) disposed between the innerhub and the outer hub, and the circular component(s) disposed around theouter hub. Still, for a third example, the weight sensor(s) of the wheelmay operate as the axle of the wheel, wherein the circular component(s)are then disposed around the axle. While these are just a couple ofexamples of how the weight sensors may be located within the wheels ofthe wheel apparatuses, in other examples, the weight sensors may belocated at additional and/or alternative locations within the wheels.

Additionally, or alternatively, in some examples, the weight sensors maybe located at other locations of the wheel apparatuses. For a firstexample, a wheel apparatus may include weight sensor(s) that attach thewheel to the caster (e.g., the weight sensor(s) may attach the axle ofthe wheel to the caster). For a second example, a wheel apparatus mayinclude a weight sensor that is located between the caster and thewheel, such as proximate to a bearing of the caster. Still, for a thirdexample, a wheel apparatus may include weight sensor(s) attached to thecaster, where the weight sensor(s) are then used to connect the wheelapparatus to the wheel frame. For instance, the weight sensor(s) mayoperate as the components (e.g., fastener(s)) of the caster that attachthe wheel apparatus to the wheel frame. Each of these wheel apparatusesare discussed in more detail below.

In some examples, the weight sensors (e.g., the loadcells) are disposedwithin the wheel apparatuses such that the weight sensors remainperpendicular to a ground plane. In other words, the weight sensors aredisposed within the wheel apparatuses such that the weight sensors donot rotate with other components of the wheel apparatuses, such as thecircular components, which rotate as the mobile apparatus is in motion.This way, the weight sensors are able to continually determine theweights associated with the mobile apparatus when the mobile apparatusis both stationary and in motion. In such examples, to cause the weightsensors to remain perpendicular with respect to the ground plane, theweight sensors are coupled to other components of the wheel apparatusesthat are also configured not to rotate when the mobile apparatus is inmotion. For example, the weight sensors may be coupled to hubs, casters,fasteners, and/or any other components that do not rotate with thecircular components when the mobile apparatus are in motion.

In some examples, each wheel apparatus may include one or moreadditional and/or alternative components. For a first example, a wheelapparatus may include one or more removable and/or rechargeablebatteries. In such an example, if the one or more batteries arerechargeable, then the wheel apparatus may further include a generatorto recharge the one or more batteries, such as when the mobile apparatusis in motion. For a second example, a wheel apparatus may include acommunication interface to send data to one or more devices, such as tothe handlebar module described below. In such an example, thecommunication interface may include a physical communication interface(e.g., wires) that the wheel apparatus uses to communicate with thehandlebar module and/or the communication interface may include awireless communication interface that the wheel apparatus uses tocommunicate with the handlebar module via a wireless network.

As described above, the mobile apparatus may include the handlebarmodule that is configured to identify items added to the mobileapparatus, determine weights of the items, determine prices of theitems, provide information about the items to a user, and/or perform oneor more additional and/or alternative processes. To determine theweights, the handlebar module is configured to receive sensor datagenerated by the weight sensors located within the wheel apparatuses. Asdescribed above, in some examples, the handlebar module receives thesensor data using wire connections between the handlebar module and theweight sensors. In other examples, the handlebar module receives thesensor data using wireless connections with the weight sensors. Ineither of the examples, the handlebar module may then determine weights(referred to, in some examples, as “apparatus weights”) associated withthe mobile apparatus.

In some examples, the handlebar module may determine an apparatus weightby analyzing the sensor data in order to determine respective weightsmeasured by each of the weight sensors. The handlebar module may thendetermine the apparatus weight associated with the mobile apparatus asthe total of each of the measured weights. For example, if first sensordata generated by a first weight sensor of a first wheel apparatusrepresents a first weight of ten pounds, second sensor data generated bya second weight sensor of a second wheel apparatus represents a secondweight of fifteen pounds, third sensor data generated by a third weightsensor of a third wheel apparatus represents a third weight of twentypounds, and fourth sensor data generated by a fourth sensor of a fourthwheel apparatus represents a fourth weight of thirty pounds, then thehandlebar module may determine a total apparatus weight of seventy-fivepounds.

Additionally, or alternatively, in some examples, the handlebar modulemay receive combined sensor data from the weight sensors. The handlebarmodule may then analyze the sensor data to determine the apparatusweight associated with the mobile apparatus. For example, if thecombined sensor data represents a weight of seventy-five pounds, thenthe handlebar module may determine a total apparatus weight ofseventy-five pounds. While these are just a couple example techniques ofhow the handlebar module may use the sensor data to determine apparatusweights, in other examples, the handlebar module may use additionaland/or alternative techniques.

The handlebar module may then use the apparatus weights in order todetermine weights (referred to, in some examples, as “item weights”) foritems added to the mobile apparatus. For example, the handlebar modulemay determine that an item has been placed within the basket of themobile apparatus. In some examples, the handlebar module makes thedetermination based on the apparatus weights changing from a firstapparatus weight to a second, greater apparatus weight over a period oftime. In some examples, the handlebar module makes the determinationusing other types of sensor data. For example, the handlebar module mayreceive sensor data generated by other sensor(s), such as camera(s),scanner(s), and/or the like. The handlebar module may then analyze thesensor data to determine that the sensor data represents the item and/orrepresents an identifier of the item. As described herein, theidentifier may include a code (e.g., a barcode, a Quick Response (QR)code, etc.), a label (e.g., a name, a brand, etc.), a logo, and/or anyother type of identifier that may be placed on an item. Based ondetermining that the sensor data represents the item and/or theidentifier, the handlebar module may determine that the item was placedwithin the basket.

Still, in some examples, the handlebar module makes the determinationbased on receiving an input. For example, if the user is placing an itemwithin the basket that is priced per unit weight, the handlebar modulemay receive an input from the user, where the input indicates that theuser is placing the item within the basket. Based on receiving theinput, the handlebar module may determine that the item was placedwithin the basket. In such an example, the input may be associated withthe user adding an item to the mobile apparatus that is priced per unitweight. In other words, this example describes a manual process that maybe performed when determining the weight of an item, while the previousexamples describe processes that are automatically performed by thehandlebar module.

In either of the examples above, the handlebar module may determine theitem weight associated with the item based on a first apparatus weightdetermined at a first time, which is before the item was placed withinthe basket, and a second apparatus weight determined at a second time,which is after the item was placed within the basket. For instance, thehandlebar module may determine the item weight by taking a differencebetween the second apparatus weight determined at the second time andthe first apparatus weight determined at the first time. For example, ifthe second apparatus weight is one hundred pounds and the firstapparatus weight is seventy-five pounds, then the handlebar module maydetermine that the item weight is twenty-five pounds.

In some examples, the handlebar module may then use the item weight toperform one or more additional processes. For a first example, thehandlebar module may include the item weight as part of cart dataassociated with the item. For a second examples, the handlebar modulemay use the item weight to determine a price of the item. For instance,if the item is priced per unit weight, the handlebar module maydetermine the price using the item weight and the price per unit weight.Still, for a third example, the handlebar module may use the item weightto identify the item placed within the basket and/or to verify theidentity of the item. For instance, the handlebar module may receiveand/or store data representing weights associated with various items.The handlebar module may then identify the item and/or verify theidentity of the item by matching the item weight to a weight associatedwith the item. When performing such processes, the handlebar module mayuse the location of the mobile apparatus within a facility to narrow theitems down to a subset of items associated with the location.Additionally, when performing such processes, the handlebar module mayreceive the data from one or more computing devices, where the datarepresents the weights of items that have recently been interacted withwithin the facility (e.g., items recently removed from inventorylocations).

In the examples described herein, the components of the wheelapparatuses may include any type of material. For example, thecomponents may include, but are not limited to, plastic, wood, metal,composites, rubber, or any other material and/or combinations ofmaterials. Additionally, the weight sensors described herein may includeany type of sensor that is capable to determining weights of objects.For example, a weight sensor may include, but is not limited to, straingauge loadcell, a capacitive loadcell, a hydraulic loadcell, a pneumaticloadcell, a piezoelectric transducer, and/or any other type of sensorthat is capable to measuring weight of objects.

While the examples above describe the mobile apparatus as including ashopping cart with at least a main frame, a lower frame, a basket, atray, and a handlebar module, in other examples, the mobile apparatusmay include any type of apparatus that includes at least a frame, acompartment, and at least one wheel apparatus. In such examples, thecompartment may be for placing objects, such as user(s) and/or item(s).This way, the mobile apparatus is able to use the weight sensor(s)associated with the wheel apparatus(es) to determine the weights of theobjects that are placed on the compartment.

By configuring the mobile apparatus to include wheel apparatuses thatinclude weight sensor(s), the mobile apparatus is able to determine theapparatus weights associated with the mobile apparatus and then use theapparatus weights in order to determine the item weights of items addedto the mobile apparatus and/or removed from the mobile apparatus.Additionally, since the only contact between the mobile apparatus andthe ground may be through the wheel apparatuses, such as during normaloperation of the mobile apparatus, the mobile apparatus may be able todetermine weights that are more accurate than the mobile apparatus woulddetermine using weight sensor(s) located at other locations. This isbecause all of the weight from items added to the mobile apparatus willbe measured by the weight sensors of the wheel apparatuses, since theweight sensors are measuring the total weight of the mobile apparatuswith the items.

FIG. 1 illustrates an example of a mobile apparatus 102 that includeswheel apparatuses 104(1)-( ) (also referred to as “wheel apparatuses104”) with weight sensors, in accordance with examples of the presentdisclosure. As shown, the mobile apparatus 102 may include a main frame106. In the example of FIG. 1 , the main frame 106 may include at leasta top portion, side portions, a front portion, and a bottom portion thatis located underneath a basket 108 of the mobile apparatus 102. The topportion of the main frame 106 may include a handlebar 110 that a useruses to push the mobile apparatus 102. The main frame 106 may be made ofplastic, wood, metal, composites, or any other material and/orcombinations of materials. As shown, the main frame 106 may include,and/or support, the other components of the mobile apparatus 102.

For example, the main frame 106 (e.g., the bottom portion of the mainframe 106) may support the basket 108. The basket 108 may comprise abottom having a given shape (e.g., a quadrilateral shape, a circularshape, a triangular shape, etc.), sides protruding from the bottom, anda gate 112. The sides and the gate 112 define a receptacle, where a topof the basket 108 includes a perimeter that defines an opening of thereceptacle to receive items that are placed within the basket 108.Additionally, in the example of FIG. 1 , the mobile apparatus 102 mayinclude a shelf 114 that extends substantially horizontally from thebasket 108. As shown, the shelf 114 also includes a bottom and sidesprotruding from the bottom, where the sides and the bottom define areceptacle of the tray 114 that is also for receiving items.

The mobile apparatus 102 may further include a handlebar module 116 thatis coupled to the main frame 106. The handlebar module 116 may includeone or more sensors (e.g., camera(s), scanner(s), proximity sensor(s),motion sensor(s), etc.), one or more lights, a display, and/or any othertype of electronic device. As described in more detail within, thehandlebar module 116 may perform one or more of the processes describedherein with respect to identifying items added to the mobile apparatus102 (e.g., items placed within the basket 108, within the shelf 114, ona tray 118, etc.), determining weights associated with the items,providing information associated with the items, and/or to perform anyother process described herein.

The main frame 106 of the mobile apparatus 102 may be connected to awheel frame 120 that includes components for providing mobility to themobile apparatus 102. For instance, the wheel frame 120 may support thewheel apparatuses 104 that the mobile apparatus 102 uses for mobility.While the example of FIG. 1 only illustrates three of the wheelapparatuses 104 of the mobile apparatus 102, the mobile apparatus 102 ofFIG. 1 includes a total of four wheel apparatuses 104. Additionally,while the example of FIG. 1 illustrates the mobile apparatus 102 thatincludes fourth wheel apparatuses 104, in other examples, a mobileapparatus may include any number of wheel apparatuses, such as one wheelapparatus, two wheel apparatuses, three wheel apparatuses, ten wheelapparatuses, and/or the like, and still perform the processes describedherein.

As shown by the bottom illustration of the wheel apparatus 104(3), eachwheel apparatus 104 may include at least an inner hub 122, weightsensors 124(1)-(2) (also referred to as “weight sensors 124)”, an outerhub 126, a rim 128, and a tire 130. The example of FIG. 1 furtherillustrates that the wheel apparatus 104 is attached to the wheel frame120 using at least a caster 132 and a connector 134. While the exampleof FIG. 1 only illustrates the wheel apparatus 104 as including theinner hub 122, the weight sensors 124, the outer hub 126, the rim 128,the tire 130, the caster 132, and the connector 134, in other examples,the wheel apparatus 104 may include additional and/or alternativecomponents. Such examples of components for wheel apparatuses arefurther illustrated in the examples of FIGS. 2-7 .

As shown, the wheel apparatus 104 is configured such that the weightsensors 124 are coupled to the inner hub 122 of the wheel apparatus 104.In some examples, the weight sensors 124 are coupled to the inner hub122 in order to prevent the weight sensors 124 from rotating when themobile apparatus 102 is in motion (e.g., the inner hub 122 may notrotate with the rim 128 and the tire 130 when the mobile apparatus 102is in motion). This may ensure that the weight sensors 124 remainperpendicular to the ground plane, which may be represented by thex-direction, even when the mobile apparatus 102 is in motion. Byensuring that the weight sensors 124 remain perpendicular to the groundplane even when the mobile apparatus 102 is in motion, the mobileapparatus 102 is capable of determining weights using the weight sensors124 both while the mobile apparatus 102 is stationary and while themobile apparatus 102 is in motion.

In the example of FIG. 1 , the wheel apparatus 104 includes the firstweight sensor 124(1) coupled to a first side 136(1) (e.g., a top side)of the inner hub 122 and the second weight sensor 124(2) coupled to asecond side 136(2) (e.g., a bottom side) of the inner hub 122. However,in other examples, the weight sensors 124 disposed within the wheelapparatus 104 may be located at additional and/or alternativelocation(s) within the wheel apparatus 104. In some examples, eachweight sensor 124 may measure the total weight that is applied to thewheel apparatus 104 of the mobile apparatus 102. However, in otherexamples, each weight sensor 124 may measure only a portion of the totalweight that is applied to the wheel apparatus 104 of the mobileapparatus 104. For example, the first weight sensor 124(1) may measure afirst portion of the total weight while the second weight sensor 124(2)measures a second portion of the total weight, where the first portionof the total weight and the second portion of the total weight togetherequal the total weight that is applied to wheel apparatus 104.

As shown, the wheel apparatus 104 also includes the outer hub 126disposed around the inner hub 122 and the weight sensors 124. The rim128 is then disposed around the outer hub 126 such that the rim 128 isable to rotate with respect to the outer hub 126 when the mobileapparatus 102 is in motion (which is represented by an arrow 138).Additionally, the tire 130 is then disposed around the rim 128. As such,and in the example of FIG. 1 , the rim 128 and the tire 130 may rotatearound the z-direction when the mobile apparatus 102 is in motion (whichis illustrated in the example of FIG. 3 ), while the rest of thecomponents of the wheel apparatus 104 do not rotate around thez-direction with the rim 128 and the wheel 130.

As will be described in more detail below, the weight sensors 124 of thewheel apparatus 104 may communicate with the component(s) of thehandlebar module 116 using one or more techniques. For a first example,the weight sensors 124 of the wheel apparatus 104 may include wiredconnections with the component(s) of the handlebar module 116, where theweight sensors 124 send sensor data to the component(s) via the wiredconnections. In such examples, the casters 132 may be configured suchthat the casters 132 are restricted from fully rotating around they-direction (which is also illustrated in the example of FIG. 3 ). Forinstance, the casters 132 may be restricted such that the casters 132rotate less than 360 degrees in the y-direction in order to protect thewired connections. For a second example, the wheel apparatuses 104 mayinclude wireless interfaces, where the wheel apparatuses 104 are thenable to send sensor data to the component(s) via a wireless network. Insuch examples, the casters 132 may be configured to fully rotate aroundthe y-direction, such as 360 degrees.

In the example of FIG. 1 , the connectors 134 include bolts and screwsthat couple the wheel apparatuses 104 to the wheel frame 120. However,in other examples, the connectors 134 may include other types ofconnectors that are capable to coupling the wheel apparatuses 104 to thewheel frame 120. For example, the connectors 134 may include, but arenot limited to, Velcro, tape, glue, magnets, and/or any other type ofconnectors that are capable of connecting the wheel apparatuses 104 tothe wheel frame 120. Additionally, in some examples, the connectors 134may be configured such that the wheel apparatuses 104 are able to attachto other types of mobile apparatuses. This way, if a mobile apparatuscurrently includes wheels without sensors, the wheels of the mobileapparatus may be replaced by the wheel apparatuses 104 (and/or one ormore of the other wheel apparatuses described herein).

As illustrated in the example of FIG. 1 , the wheel apparatus 104(3)(and/or similarly the other front wheel apparatus that is not labeled)may include a bearing 140 that allows the wheel apparatus 140(3) torotate. However, the wheel apparatus 104(1) and/or the wheel apparatus104(2) may not include a bearing for rotation. This is because the wheelapparatus 104(3) and the other front wheel apparatus may be used tosteer the mobile apparatus 102, such as by turning the front of themobile apparatus 102. However, in other examples, each of the wheelapparatuses 104 may include a bearing and/or each of the wheelapparatuses 104 may not include a bearing.

FIG. 2 illustrates an example of a first wheel apparatus 202 thatincludes a weight sensor, in accordance with examples of the presentdisclosure. In some examples, the wheel apparatus 202 may include,and/or be similar to, the wheel apparatuses 104. As shown, the wheelapparatus 202 may include a caster 204 that attaches to connectors206(1)-(2) (also referred to as “connectors 206”). In some examples, thecaster 204 attaches to the connectors 206 using a rigid type ofconnection, such as by welding the connectors 206 to the caster 204.However, in other examples, the caster 204 may be attached to theconnectors 206 using any other type of connection (e.g., bolts, screws,adhesive, etc.). By attaching the connectors 206 to the caster 204 usingrigid connections, the connectors 206 will not rotate with respect tothe caster 204 when a mobile apparatus 202 is in motion.

An inner hub 208 may then attach to the caster 204 using the connectors206. For instance, and as illustrated in the example of FIG. 2 , theinner hub 208 may attach to the connectors 206 using multiple fasteners210, such as four fasteners 210 (although only one is labeled forclarity reasons). As described herein, a fastener may include, but isnot limited to, a screw, a bolt, a pin, and/or any other type fastenerthat is able to attach two components together. In some examples, and byusing multiple fasteners 210, the connection between the inner hub 208and the connectors 206 are also rigid such that the inner hub 208 isalso unable to rotate with respect to the caster 204 when a mobileapparatus is in motion.

The wheel apparatus 202 further comprises weight sensors 212(1)-(2)(also referred to as “weight sensors 212”) that attach to the inner hub208. In the example of FIG. 2 , the weight sensors 212 include a firstweight sensor 212(1) attached to a first side of the inner hub 208 and asecond weight sensor 212(2) attached to a second side of the inner hub208. However, in other examples, the wheel apparatus 202 may include anynumber of weight sensors 212 (e.g., one weight sensor, three weightsensors, ten weight sensors, etc.) that attach to any location on theinner hub 208. Additionally, in the example of FIG. 2 , the first weightsensor 212(1) attaches to the inner hub 208 using fasteners 214(1)(although only one is labeled for clarity reasons) and fasteners 216(1)(although only one is labeled for clarity reasons) and the second weightsensor 212(2) attaches to the inner hub 208 using fasteners 214(2)(although only one is labeled for clarity reasons) and fasteners 216(2)(although only one is labeled for clarity reasons). While the example ofFIG. 2 illustrates attaching each weight sensor 212 using four fasteners214, 216, in other examples, each weight sensor 212 may be attachedusing any number of fasteners.

The wheel apparatus 202 further comprises an outer hub 218 that attachesto the inner hub 208 using the fasteners 216. In the example of FIG. 2 ,when the outer hub 218 is attached to the inner hub 208, the weightsensors 212 may be located between the inner hub 208 and the outer hub218, similar to the wheel apparatuses 104 illustrated in the example ofFIG. 1 . By configuring the wheel apparatus 202 as shown, the connectors206, the inner hub 208, and the outer hub 218 include rigid connectionwith respect to the caster 204. In other words, the connectors 206, theinner hub 208, and the outer hub 218 do not rotate with respect to thecaster 204 when the mobile apparatus is in motion. This way, theorientations of the weight sensors 212 will be maintained such that theweight sensors 212 remain perpendicular to a ground plane. As describedherein, by keeping the orientations of the weight sensors 212 such thatthe weight sensors 212 remain perpendicular to the ground plane, amobile apparatus is able to determine weights even when the mobileapparatus is in motion.

As further illustrated in the example of FIG. 2 , the wheel apparatus202 may include a rim 220 that is disposed around the outer hub 218 anda tire 222 that is disposed around the rim 220. Additionally, in orderto secure the rim 220 around the outer hub 218, the wheel apparatus 202may include retaining rings 224(1)-(2) (also referred to as “retainingrings 224”) that attach to each side of the rim 220 and the outer hub218. For example, the first retaining ring 224(1) may attach to a firstside of the outer hub 218 using fasteners 226(1) (although only one islabeled for clarify reasons) and the second retaining ring 224(2) mayattach to a second side of the outer hub 218 using fasteners 226(2)(although only one is again labeled for clarity reasons). In the exampleof FIG. 2 , the retaining rings 224 are configured such that theretaining rings 224 overlap a portion of the rim 220 when the retainingrings 224 are attached to the outer hub 218, which secures the rim 220to the outer hub 218. While the example of FIG. 2 illustrates using fourfasteners 226(1) and/or four fasteners 216(2), in other examples, thewheel apparatus 202 may include any number of fasteners to attach theretaining rings 224 to the outer hub 218.

While the example of FIG. 2 illustrates each of the components as beingseparate from one another, in other examples, one or more of thecomponents may be combined into a single component. For a first example,the inner hub 208 may be manufactured in order to include the weightsensors 212 such that the weight sensors 212 are not separate from theinner hub 208. For a second example, the rim 220 may be manufacturedsuch that the rim 220 includes the retaining rings 224.

In the example of FIG. 2 , as well as the examples of FIGS. 3-7 , thecomponents of the wheel apparatus 202 may include any type of material.For example, the components may include, but are not limited to,plastic, wood, metal, composites, rubber, or any other material and/orcombinations of materials. Additionally, the weight sensors 212, as wellas other weight sensors described herein, may include any type of sensorthat is capable to determining weights of objects. For example, a weightsensor may include, but is not limited to, strain gauge loadcell, acapacitive loadcell, a hydraulic loadcell, a pneumatic loadcell, apiezoelectric transducer, and/or any other type of sensor that iscapable to measuring weight of objects.

FIG. 3 illustrates an example of a second wheel apparatus 302 thatincludes weight sensors 304, in accordance with examples of the presentdisclosure. As shown, the wheel apparatus 302 includes a caster 306, awheel 308 with an axle 310, the weight sensor 304, and another weightsensor (not show) located on the other side of the wheel 308. In theexample of FIG. 3 , a first portion of the weight sensor 304 attaches tothe axle 310 while a second portion of the weight sensor 304 attaches tothe caster 306. This way, the weight of the caster 306 as well as theweight that is applied to the caster 306 from other objects is measuredby the weight sensors 304. However, the weight of the wheel 308 may notbe measured by the weight sensors 304. For example, if the wheelapparatus 302 is attached to a mobile apparatus with other, similarwheel apparatus(es), the weight sensors 304 of the wheel apparatuseswill measure the weight of the mobile apparatus (except for the weightof the wheels 308) along with the weights of any objects (e.g., items)added to the mobile apparatus.

In the example of FIG. 3 , the wheel apparatus 302 may be configured toconnect to a mobile apparatus using a connector 312. The connector 312may be configured to allow the caster 306 to rotate, which isrepresented by an arrow 314), such as while the mobile apparatus is inmotion in order to turn the mobile apparatus. For a first example, ifthe weight sensors 304 include wired connections with othercomponent(s), the caster 310 may be configured to rotate, but less than360 degrees, in order to protect the wired connections. For a secondexample, if the weight sensors 304 include wireless connections withother component(s), the caster 310 may be configured to rotate 360degrees. In either of the examples, the weight sensors 304 and the axle308 may be configured to also rotate along with the caster 310.

Additionally, in the example of FIG. 3 , the wheel apparatus 302 isconfigured such that the wheel 308 rotates around the axle 310, which isrepresented by an arrow 316. However, based on how the weight sensors304 are connected to the axle 310 and the caster 306, the weight sensors304 are configured to not rotate with the wheel 308. This way, theweight sensors 304 will remain perpendicular with respect to the groundplane even when a mobile apparatus with the wheel apparatus 302 is inmotion.

FIG. 4 illustrates an example of a third wheel apparatus 402 thatincludes a weight sensor 404, in accordance with examples of the presentdisclosure. As shown, the wheel apparatus 402 includes a wheel 406, anaxle 408, a caster 410, a bearing 412, a connector 414, and the weightsensors 404. In the example of FIG. 4 , a first portion of the weightsensor 404 is disposed above the bearing 412 while a second portion ofthe weight sensor 404 attaches to the connector 414. This way, theweight of the connector 414 as well as the weight that is applied to theconnector 414 from other objects is measured by the weight sensor 404.However, the weight of the wheel 406, the weight of the caster 410, andthe weight of the bearing 412 may not be measured by the weight sensor404. For example, if the wheel apparatus 402 is attached to a mobileapparatus with other, similar wheel apparatus(es), the weight sensors404 of the wheel apparatuses will measure the weight of the mobileapparatus (except for the weight of the wheels 406, the casters 410, andthe bearings 412) along with the weights of any objects (e.g., items)added to the mobile apparatus.

In the example of FIG. 4 , the connector 414 of the wheel apparatus 302is coupled to a wheel frame of a mobile apparatus such that the weightsensor 404, the bearing 412, the caster 410, and the wheel 406 are ableto rotate, which is represented by an arrow 416). For a first example,if the weight sensor 404 include wired connections with othercomponent(s), the weight sensor 404, the bearing 412, the caster 410,and the wheel 406 may be configured to rotate, but less than 360degrees, in order to protect the wired connections. For a secondexample, if the weight sensor 404 include wireless connections withother component(s), the weight sensor 404, the bearing 412, the caster410, and the wheel 406 may be configured to rotate 360 degrees.

Additionally, in the example of FIG. 4 , the wheel apparatus 402 isconfigured such that the wheel 406 rotates around the axle 408, which isrepresented by an arrow 418. However, based on how the weight sensor 404is disposed above the caster 410, the weight sensor 404 is configured tonot rotate with the wheel 418. This way, the weight sensor 404 willremain perpendicular with respect to the ground plane even when a mobileapparatus with the wheel apparatus 402 is in motion.

FIG. 5 illustrates an example of a fourth wheel apparatus 502 thatincludes a weight sensor 504, in accordance with examples of the presentdisclosure. As shown, the wheel apparatus 502 includes a wheel 506, anaxle 508, a caster 510, and the weight sensors 504. In the example ofFIG. 5 , the weight sensor 504 is attached to the caster 510, such as byusing a secure connection (e.g., welding). Additionally, a top portionof the weight sensor 504 may operate as a connector 512 for connectingthe wheel assembly 502 to a mobile apparatus. This way, the weightsensor 504 may not measure the weight of the caster 510 and/or the wheel506. Rather, the weight sensor 504 will measure the weight of the mobileapparatus along with any objects (e.g., items) added to the mobileapparatus. For example, if the wheel apparatus 502 is attached to amobile apparatus with other, similar wheel apparatus(es), the weightsensors 504 of the wheel apparatuses will measure the weight of themobile apparatus along with the weights of any objects (e.g., items)added to the mobile apparatus.

As discussed above, in the example of FIG. 5 , the connector 512 of theweight sensor 504 is coupled to a wheel frame of a mobile apparatus suchthat the weight sensor 504, the caster 510, and the wheel 506 are ableto rotate, which is illustrated by an arrow 514). For a first example,if the weight sensor 504 include wired connections with othercomponent(s), the weight sensor 504, the caster 510, and the wheel 506may be configured to rotate, but less than 360 degrees, in order toprotect the wired connections. For a second example, if the weightsensor 504 includes wireless connections with other component(s), theweight sensor 504, the caster 510, and the wheel 506 may be configuredto rotate 360 degrees.

Additionally, in the example of FIG. 5 , the wheel apparatus 502 isconfigured such that the wheel 506 rotates around the axle 508, which isrepresented by an arrow 516. However, based on how the weight sensor 504is disposed above the caster 410, the weight sensor 514 is configured tonot rotate with the wheel 506. This way, the weight sensor 504 willremain perpendicular with respect to the ground plane even when a mobileapparatus with the wheel apparatus 502 is in motion.

FIG. 6 illustrates an example of a fifth wheel apparatus 602 thatincludes a weight sensor 604, in accordance with examples of the presentdisclosure. As shown, the wheel apparatus 602 includes a caster 606 anda wheel 608, where the wheel 608 includes an inner hub 610, an outer hub612, and the weight sensor 604. In the example of FIG. 6 , the wheelapparatus 602 may include a similar structure as the wheel apparatus202. For example, the inner hub 610 and the outer hub 612 may operatesimilarly to the inner hub 208 and the outer hub 218, respectively.However, the wheel apparatus 602 includes only a single weight sensor604 that is located within the inner hub 610. In other words, the innerhub 610 of the wheel apparatus 602 may operate as the weight sensor 604.

In the example of FIG. 6 , the caster 606 includes a connector 614 thatconnectors the wheel apparatus 602 to a wheel frame of a mobileapparatus. As such, the caster 606 and the wheel 608 are able to rotateusing the connection, which is represented by an arrow 616). For a firstexample, if the weight sensor 604 include wired connections with othercomponent(s), the weight sensor 064, the caster 606, and the wheel 608may be configured to rotate, but less than 360 degrees, in order toprotect the wired connections. For a second example, if the weightsensor 604 includes wireless connections with other component(s), theweight sensor 604, the caster 606, and the wheel 608 may be configuredto rotate 360 degrees.

Additionally, in the example of FIG. 6 , the wheel apparatus 602 isconfigured such that the wheel 608 rotates around the inner hub 610 andthe outer hub 612, which is represented by an arrow 618. However, basedon how the weight sensor 604 is disposed within the inner hub 610, theweight sensor 604 is configured to not rotate with the wheel 608. Thisway, the weight sensor 604 will remain perpendicular with respect to theground plane even when a mobile apparatus with the wheel apparatus 602is in motion.

FIG. 7 illustrates an example of a sixth wheel apparatus 702 thatincludes a weight sensor 704, in accordance with examples of the presentdisclosure. As shown, the wheel apparatus 702 includes a caster 706 anda wheel 708. In the example of FIG. 7 , the weight sensor 704 mayoperate as the axle to the wheel 708. For example, the weight sensor 704may include a cylindrical shape such that the wheel 708 is able torotate around the weight sensor 704, which is illustrated by 710. Insome examples, connectors 712 (although only one is illustrated forclarity reasons) are then configured to attach each side of the weightsensor 704 to the caster 706. By using such a weight sensor 704, theweight sensor 704 may not measure the weight of the wheel 708. Rather,the weight sensor 704 will measure the weight of the caster 706, theweight of the mobile apparatus, and the weights of any objects (e.g.,items) added to the mobile apparatus. For example, if the wheelapparatus 702 is attached to a mobile apparatus with other, similarwheel apparatus(es), the weight sensors 704 of the wheel apparatuseswill measure the weight of the casters 706, the weight of the mobileapparatus, and the weights of any objects (e.g., items) added to themobile apparatus.

In the example of FIG. 7 , the caster 706 may include a connector 714that attaches the wheel apparatus 702 to a wheel frame of a mobileapparatus. Based on the connection, the caster 706 and the wheel 708 areable to rotate, which is represented by an arrow 716. For a firstexample, if the weight sensor 704 includes wired connections with othercomponent(s), the caster 706 and the wheel 708 may be configured torotate, but less than 360 degrees, in order to protect the wiredconnections. For a second example, if the weight sensor 704 includeswireless connections with other component(s), the caster 706 and thewheel 708 may be configured to rotate 360 degrees.

FIG. 8 illustrates an example of a seventh wheel apparatus 802 thatincludes a weight sensor 804, in accordance with examples of the presentdisclosure. As shown, the wheel apparatus 802 includes a caster 806 anda wheel 808. In the example of FIG. 8 , the weight sensor 804 mayinclude a component that attaches the wheel apparatus 802 to a frame ofa mobile apparatus. For example, a first end 810(1) of the weight sensor804 may be configured to attach to a connector 812 associated with thecaster 806 while a second end 810(2) of the weight sensor 804 isconfigured to attach to the frame of the mobile apparatus, such as byusing a second connector 814. In the example of FIG. 8 , the caster 806and the wheel 808 are able to rotate, which is represented by an arrow814.

FIG. 9 illustrates example components of the handlebar module 116configured to support at least a portion of the functionality of an itemmanagement system. The handlebar module 116 may include one or morehardware processors 902 (processors) configured to execute one or morestored instructions. The processor(s) 902 may comprise one or morecores. The handlebar module 116 may include one or more input/output(I/O) interface(s) 904 to allow the processor(s) 902 or other portionsof the handlebar module 116 to communicate with other devices. The I/Ointerface(s) 904 may comprise Inter-Integrated Circuit (I2C), SerialPeripheral Interface bus (SPI), Universal Serial Bus (USB) aspromulgated by the USB Implementers Forum, and so forth. The I/Ointerface(s) 904 may allow the various modules/components to communicatewith each other and/or control each other.

The handlebar module 116 may also include one or more communicationinterfaces 906. The communication interface(s) 906 are configured toprovide communications between the handlebar module 116 and otherdevices, such as the server(s), sensors, interface devices, routers, andso forth. The communication interface(s) 906 may include devicesconfigured to couple to personal area networks (PANs), wired andwireless local area networks (LANs), wired and wireless wide areanetworks (WANs), and so forth. For example, the communication interfaces906 may include devices compatible with Ethernet, Wi-Fi™, and so forth.The handlebar module 116 may also include one or more busses or otherinternal communications hardware or software that allow for the transferof data between the various modules and components of the handlebarmodule 116.

The handlebar module 116 may also include the one or more captureassemblies 908 that each include one or more sensors 910, a camera 912,and one or more LEDs 914. In some examples, the sensor(s) 910 maycomprise any type of sensor that is able to detect the presence ofnearby objects without the need for physical contact (e.g., ToFsensor(s), PIR sensor(s), capacitive sensor(s), etc.). The cameras 912in each of the capture assemblies 908 may comprise any type of camera orimaging device configured to generate image data (and/or video data), orinformation descriptive of a plurality of picture elements or pixels.The LED(s) 914 may be selectively activated to emit light at anywavelength, visible or non-visible to users. In some examples, one ormore capture assemblies 908 may additionally, or alternatively, befacing downward into the basket 108 of the handlebar module 116.Additionally, the handlebar module 116 may include one or more cameras912 that are outward facing in that generate image data representing thefacility around the handlebar module 116.

The handlebar module 116 may include one or more power supply(ies) 916to provide power to the components of the handlebar module 116, such asa battery pack module 919, which include one or more batteries 920. Thepower supply(ies) 916 may also include a secondary (e.g., internal)power supply 922 to allow for hot swapping of battery pack modules 919,such as one or more capacitors, internal batteries, etc.

The handlebar module 116 may also include the display 924 configured todisplay content represented by image data, such as pictures, videos,user interface elements, and/or any other image data. The display 924may comprise any type of display 924, and may further be a touch screento receive touch input from a user. The handlebar module 116 may alsoinclude one or more microphones 926 and one or more loudspeakers 928 tofacilitate a dialogue with a user, and/or to receive feedback from theuser. The microphone(s) 926 may capture sound representing the user'sspeech, and the loudspeaker(s) 928 may output machine-generated words tofacilitate a dialogue, prompt a user for feedback on an item and/or forother information, and/or output other alerts or notifications.

The handlebar module 116 may also include other types of sensor(s) 930.As described herein, these sensor(s) 930 may include proximitysensor(s), light sensor(s), and/or the like.

The handlebar module 116 may include one or more memories 932 (e.g., inan electronics box module along with the processor(s) 902). The memory932 comprises one or more computer-readable storage media (CRSM). TheCRSM may be any one or more of an electronic storage medium, a magneticstorage medium, an optical storage medium, a quantum storage medium, amechanical computer storage medium, and so forth. The memory 932provides storage of computer-readable instructions, data structures,program modules, and other data for the operation of the handlebarmodule 116. Examples of operations that may be performed by thehandlebar module 116 are described with respect to FIG. 9 .

As further illustrated by the example of FIG. 9 , a wheel apparatus 934(and similarly each of the other wheel apparatuses) of the mobileapparatus 102 may include weight sensor(s) 936, communicationinterface(s) 939, one or more power supplies 940, and a generator 942.In some examples, the wheel apparatus 934 may represent, and/or include,one or more of the wheel apparatuses 202. 302, 402, 502, 602, or 702.The communication interface(s) 938 are configured to providecommunications between the wheel apparatus 934 and other devices, suchas the server(s), sensors, interface devices, routers, the handlebarmodule 116, and so forth. The communication interface(s) 938 may includedevices configured to couple to personal area networks (PANs), wired andwireless local area networks (LANs), wired and wireless wide areanetworks (WANs), and so forth. For example, the communicationinterface(s) 938 may include devices compatible with Ethernet, Wi-Fi™,and so forth.

The one or more power supplies 940 may provide power to the componentsof the wheel apparatus 934. In some examples, the one or more powersupplies 940 may include a battery pack module and/or one or morebatteries. In some examples, the one or more power supplies 940 may bereplaceable while in some examples, the one or more power supplies 940may additionally, or alternatively, be rechargeable. For example, thegenerator 942 may be configured to recharge the one or more powersupplies 940, such as when the mobile apparatus 102 is in motion and thewheel is rotating. In other words, the generator 942 may use therotation of the wheel in order to recharge the one or more powersupplies 940.

As further illustrated in the example of FIG. 9 , the wheel apparatus934 may include a weight component 944. As described herein, in someexamples, the weight component 944 may be configured to receive thesensor data generated by the weight sensor(s) 936 and determine a weightusing the sensor data. In such examples, the wheel apparatus 934 maythen send, to the handlebar module 114, data representing the weight inaddition to, or alternatively from, sending the actual sensor data.Additionally, in examples where the wheel apparatus 934 includes theweight component 944, the weight component 944 may representprocessor(s), memory, and/or instructions stored in the memory toperform these processes.

FIG. 10 illustrates example components of the mobile apparatus 1000(which may represent, and/or include, the mobile apparatus 102)configured to support at least a portion of the functionality of an itemmanagement system. The mobile apparatus 1000 may include one or morehardware processors 1002 (processors) (which may represent, and/orinclude, the processor(s) 802) configured to execute one or more storedinstructions. The processor(s) 1002 may comprise one or more cores. Themobile apparatus 1000 may include one or more I/O interface(s) 1004(which may represent, and/or include, the I/O interface(s) 804) to allowthe processor(s) 1002 or other portions of the mobile apparatus 1000 tocommunicate with other devices. The I/O interface(s) 1004 may compriseInter-Integrated Circuit (I2C), Serial Peripheral Interface bus (SPI),Universal Serial Bus (USB) as promulgated by the USB Implementers Forum,and so forth. The I/O interface(s) 1004 may allow the variousmodules/components to communicate with each other and/or control eachother.

The mobile apparatus 1000 may also include one or more communicationinterfaces 1006 (which may represent, and/or include, the communicationinterface(s) 806). The communication interface(s) 1006 are configured toprovide communications between the mobile apparatus 1000 and otherdevices, such as the server(s), sensors, interface devices, routers, andso forth. The communication interface(s) 1006 may include devicesconfigured to couple to personal area networks (PANs), wired andwireless local area networks (LANs), wired and wireless wide areanetworks (WANs), and so forth. For example, the communication interfaces1006 may include devices compatible with Ethernet, Wi-Fi™, and so forth.The mobile apparatus 1000 may also include one or more busses or otherinternal communications hardware or software that allow for the transferof data between the various modules and components of the mobileapparatus 1000.

The mobile apparatus 1000 may also include the one or more captureassemblies 1008 (which may represent, and/or include, the one or morecapture assemblies 808) that each include one or more sensors 1010, acamera 1012, and one or more LEDs 1014. In some examples, the sensor(s)1010 may comprise any type of sensor that is able to detect the presenceof nearby objects without the need for physical contact (e.g., ToFsensor(s), PIR sensor(s), capacitive sensor(s), etc.). The cameras 1012in each of the capture assemblies 1008 may comprise any type of cameraor imaging device configured to generate image data (and/or video data),or information descriptive of a plurality of picture elements or pixels.The LED(s) 1014 may be selectively activated to emit light at anywavelength, visible or non-visible to users. In some examples, one ormore capture assemblies 1008 may additionally, or alternatively, befacing downward into the basket 108 of the mobile apparatus 1000.Additionally, the mobile apparatus 1000 may include one or more cameras1012 that are outward facing that generate image data representing thefacility around the mobile apparatus 1000.

The mobile apparatus 1000 may include one or more power supply(ies) 1016(which may represent, and/or include, the one or more power supplies816) to provide power to the components of the mobile apparatus 1000,such as a battery pack module 1018, which include one or more batteries1020. The power supply(ies) 1016 may also include a secondary (e.g.,internal) power supply 1020 to allow for hot swapping of battery packmodules 1018, such as one or more capacitors, internal batteries, etc.

The mobile apparatus 1000 may also include the display 824 configured todisplay content represented by image data, such as pictures, videos,user interface elements, and/or any other image data. The display 824may comprise any type of display 824, and may further be a touch screento receive touch input from a user. The mobile apparatus 1000 may alsoinclude one or more microphones 1024 (which may represent, and/orinclude, the microphone(s) 824) and one or more loudspeakers 1026 (whichmay represent, and/or include, the loudspeaker(s) 828) to facilitate adialogue with a user, and/or to receive feedback from the user. Themicrophone(s) 1024 may capture sound representing the user's speech, andthe loudspeaker(s) 1026 may output machine-generated words to facilitatea dialogue, prompt a user for feedback on an item and/or for otherinformation, and/or output other alerts or notifications.

The mobile apparatus 1000 may also include other types of sensor(s) 1028(which may represent, and/or include, the sensor(s) 830). As describedherein, these sensor(s) 1028 may include weight sensor(s) withloadcell(s), where, in some examples, the loadcell(s) are locatedbetween the wheels of the mobile apparatus 1000.

The mobile apparatus 1000 may include one or more memories 1030 (whichmay represent, and/or include, the memory 832). The memory 1030comprises one or more computer-readable storage media (CRSM). The CRSMmay be any one or more of an electronic storage medium, a magneticstorage medium, an optical storage medium, a quantum storage medium, amechanical computer storage medium, and so forth. The memory 1030provides storage of computer-readable instructions, data structures,program modules, and other data for the operation of the mobileapparatus 1000. A few example functional modules are shown stored in thememory 1030, although the same functionality may alternatively beimplemented in hardware, firmware, or as a system on a chip (SOC).

The memory 1030 may include at least one operating system (OS) component1032. The OS component 1032 is configured to manage hardware resourcedevices such as the I/O interface(s) 1004, the communicationinterface(s) 1006, and provide various services to applications orcomponents executing on the processor(s) 1002. The OS component 1032 mayimplement a variant of the FreeBSD™ operating system as promulgated bythe FreeBSD Project; other UNIX™ or UNIX-like variants; a variation ofthe Linux™ operating system as promulgated by Linus Torvalds; theWindows® Server operating system from Microsoft Corporation of Redmond,Washington, USA; and so forth.

One or more of the following components may also be stored in the memory1030. These components may be executed as foreground applications,background tasks, daemons, and so forth. A communication component 1034may be configured to establish communications with one or more of thesensors, one or more of the servers, or other devices. Thecommunications may be authenticated, encrypted, and so forth.

The memory 1030 may further store a cart management system 1036. Thecart management system 1036 is configured to provide theitem-identifying functions (and other functions) provided by the mobileapparatus 1000 as described herein. For example, the cart managementsystem 1036 may be configured to detect items, identify items, andmaintain a virtual shopping cart for a user of the mobile apparatus1000.

The cart management system 1036 may include a user-activation component1038 that performs operations for activating a shopping session usingthe mobile apparatus 1000 on behalf of a user. For instance, a user mayhave previously registered for a user account with an operator of thefacility to utilize various automated management services provided by anoperator of the facility. The user may have registered for a useraccount, such as by providing user data 1040, to automate payments madefor items taken by the user and included a payment means (e.g., creditcard, bank account number, etc.), and may have also provided anidentification means in the user data 1040 to the user-activationcomponent 1038 such that the mobile apparatus 1000 can recognize theuser. For instance, the user may have registered to identify themselvesto the mobile apparatus 1000 using any identification technique by theuser-activation component 1038, such as by providing the user data 1040by presenting an identification means to a camera/scanner 1012 (e.g.,presenting a driver's license, presenting a facility-issued card,presenting a user identifier via a mobile phone, etc.), and/or speakinga predefined utterance that is captured by the microphone(s) 1024 (e.g.,a name of the user, a predefined keyword, etc.). Once a user hasidentified themselves using the user-activation component 1038, theuser-activation component 1038 may open a shopping session where themobile apparatus 1000 identifies and track items retrieved by the userand placed in the mobile apparatus 1000.

The cart management system 1036 may additionally include anactivity-detection component 1042 configured to detect items (orobjects) within a particular proximity to the mobile apparatus 1000. Forexample, the capacitive sensor(s) 1028 may generate sensor data 1044.The activity-detection component 1042 may then analyze the sensor data1044 in order to determine a capacitance detected by the capacitivesensor(s) 1028. Additionally, the activity-detection component 1042 mayuse the capacitance to perform one or more of the processes describedherein to detect the presence of a user. For example, theactivity-detection component 1042 may use the capacitance to determineif the user is located proximate to the mobile apparatus 1000, the useris located over the perimeter of the mobile apparatus 1000, determine ifthe user is located within the opening of the mobile apparatus 1000,determine if the user is in contact with the cart, and/or the like.

The cart management system 1036 may further include a strobing component1046 configured to cause the LED(s) 1014 and/or shutters of thecamera(s) 1012 to strobe according to different frequencies. As notedabove, the LED(s) 1014 may emit light in any light spectrum (e.g.,infrared, near infrared, visible, etc.). However, some items may havetext and/or other marking printed thereon using dye-based color inksthat have diminished and/or similar near infrared (NIR) absorbance. Thismay lead to compromised contrast between, and essentially “washing out”of many distinct features in the visible spectrum when viewed in NIR.Accordingly, in some examples it may be advantageous to cause the LED(s)1014 to emit light in the visible spectrum. When generating image data1048 using camera(s) 1012, motion blur may appear when capturing fastmoving objects. However, the motion blur may be reduced or eliminated byexposing the camera(s) 1012 imager for a short (e.g., sub-millisecond)durations. Accordingly, the strobing component 1046 may strobe theopening and closing of shutters of the camera(s) 1012 to limit thesensor exposure duration. Additionally, the strobing component 1046 maycause the LEDs 1014 to emit/strobe light at a particular frequency.

The cart management system 1036 may also include an item-identificationcomponent 1050 configured to analyze image data 1048 to identify an itemrepresented in the image data 1048. The image data 1048 may compriseinformation descriptive of a plurality of picture elements, or pixels,for one or more image frames (e.g., a still picture, multiple pictureframes, video frames, etc.). The item-identification component 1050 mayanalyze the image data 1048 using various image processing techniques,or computer vision techniques. For instance, the item-identificationcomponent 1050 may extract a representation of an item depicted in theimage data 1048 generated by at least one of the camera(s) 1012. Therepresentation may include identifying text printed on the item, colorsor color schemes printed on the item, 2-D and/or 3D shapes of the item,and/or other techniques for extract a representation of the item. Insome instances, the representation of the item depicted in the imagedata 1048 may comprise a numeric representation, such as a featurevector or a set of feature vectors.

In some examples, a data store 1052 stored in the memory 1030 mayinclude item data 1054, which may include representations of the itemsoffered for acquisition at the facility. The item-identificationcomponent 1050 may compare the extracted represented of the item withthe “gallery” or stored representations of the known items in the itemdata 1054. In some instance, the item representation may include anindication of a barcode or SKU data for the item as recognized in, orextracted from, the image data 1048. The item-identification component1050 may determine confidence level data 1056 based on the comparisonswith item representation in the item data 1054. The item-identificationcomponent 1050 may determine, and assign, confidence levels indicatinghow likely it is that the item represented in the image data 1048corresponds to an item from the item gallery in the item data 1054.Based on the confidence level data 1056, the item-identificationcomponent 1050 may determine an item identifier 1058 for the item in theimage data 1048 (or multiple item identifiers 1058) that corresponds toan item in the item data 1054 to which the item corresponds.

In some examples, the data store 1052 may include physical-layout data1060 that is used by the item-identification component 1050 to determinethe item. The physical-layout data 1060 may include or provide a mappingof physical locations within the physical layout of devices and objectssuch that the location of the mobile apparatus 1000 may be utilized todetermine an item stored nearby. The physical-layout data 1060 mayindicate the coordinates within the facility of an inventory location,items stored at that inventory location, and so forth. In examples wherethe mobile apparatus 1000 has location determining sensors (e.g., GPS,RFID, proximity, etc.), the location sensor data may be used todetermine where in the store the user is located. In such examples, theitem-identification component 1050 may access the physical-layout data1060 to determine if a location associated with the event is associatedwith a location, and confidence levels for the correspondingrepresentations of items in the item data 1054. Continuing the exampleabove, given the location within the facility of the event and imagecamera data, the physical-layout data 1060 may determine the items thatmay have been represented in generated images of the event.

The cart management system 1036 may further include anevent-determination component 1062 to determine event-description data1064 for the item in the image data 1048. The event-determinationcomponent 1062 may determine if the user is adding an item to the mobileapparatus 1000, removing the item from the mobile apparatus 1000, etc.,based on movement of the item and/or whether the item is shown in theimage data 1048. For instance, if the item is shown as being moveddownward towards the interior of the mobile apparatus 1000, and theuser's hand then leaves the basket without the item, it can bedetermined that the user added the item to the mobile apparatus 1000.Similarly, if the user's hand moves into the cart without an item, andis depicted in the image data 1048 taking an item from the cart, theevent-determination component 1062 may determine that the user removedan item from the mobile apparatus 1000.

The cart management system 1036 may also include a virtual-cartmanagement component 1066 configured to manage virtual shopping cartdata 1068 for the mobile apparatus 1000. For instance, the virtual-cartmanagement component 1066 may utilize the item data 1054,event-description data 1064, and confidence level data 1056 to add itemidentifier(s) 1058 to the virtual shopping cart data 1068 for items thatwere added to the mobile apparatus 1000, remove item identifier(s) 1058from the virtual shopping cart data 1068 for items that were removedfrom the mobile apparatus 1000, and track item quantity data 1070indicating quantities of particular items in the mobile apparatus 1000.

The cart management system 1036 may further include a user-interfacecomponent 1072 configured to present user interfaces on the display 824based on user-interface data 1074. The user interfaces may include oneor more fields to present data, and/or receive touch input (or otherinput via a keyboard, mouse, etc.) from a user. For instance, if theitem-identification component 1050 is unable to determine an itemidentifier 1058 for an item shown in the image data 1048, theuser-interface component 1072 may receive inquiry data 1076 generated byan inquiry component 1078 to prompt a user for feedback to help identifythe item, and/or other information (e.g., if multiple items were placedin the mobile apparatus 1000). The inquiry component 1078 may beconfigured to generate inquiry data 1076 based on the information neededto identify the item. For instance, the inquiry data 1076 may include aprompt to request particular feedback from the user, such as to provideinput (e.g., touch input, vocal/utterance input, etc.) to identify theitem, input to indicate how many items were added to the mobileapparatus 1000, input to indicate whether an item was removed or added,etc. In some examples, the user-interface component 1072 may present oneor more images depicting items from the item data 1054 that have thehighest confidence levels as corresponding to the item in the image data1048, but confidence levels that are not high enough to make a finaldecision as to the item. For instance, the user-interface component 1072may present pictures of two different items that have high confidencelevels and request that the user select or indicate the appropriateitem. Additionally, or alternatively, the user-interface component 1072may present user-interface data 1074 that prompts the user for feedbackregarding whether or not the item was added to, or removed from themobile apparatus 1000. The user-interface component 1072 may thenreceive response data 1080 representing a selection of an item.

In some examples, the cart management system 1036 may further include alocating component 1082 configured to determine locations of the mobileapparatus 1000 in the facility. For instance, the locating component1082 may analyze sensor data 1044 collected by sensors of the mobileapparatus 1000 to determine a location. In some examples, thecommunication interface(s) 1006 may include network interfaces thatconfigured the mobile apparatus 1000 to receive or detect wirelesssignals (e.g., WiFi signals, Bluetooth signals, etc.) and generatesensor data 1044 indicative of the signals. The locating component 1082may analyze the sensor data 1044 using various techniques to identifythe location of the mobile apparatus 1000, such as WiFi triangulation,received signal strength indicators (RSSI), and/or other methods foranalyzing wireless signals to determine a location of the mobileapparatus 1000. In some instances, the facility may include variousinfrared (IR) or near-IR emitters at different locations that emit lightaccording to frequencies, patterns, etc. that indicate the differentlocations in the facility. In such examples, the mobile apparatus 1000may include a light sensor to generate the sensor data 1044 representingthe IR or NIR and determine the location of the mobile apparatus 1000 inthe facility. In some instances, there may be visible landmarks ormarkers throughout the facility that indicate a location in thefacility, and the locating component 1082 may analyze image data 1048generated by an outward facing camera 1012 to determine a location ofthe mobile apparatus 1000. As another example, there may be variousradio frequency (RF) emitters positioned throughout the store, and themobile apparatus 1000 may include an RF receiver to allow the locatingcomponent 1082 to perform IR beaconing to determine the location of themobile apparatus 1000. The locating component 1082 may perform one, orany combination, of the above techniques to determine a location of themobile apparatus 1000 in the facility and/or any other technique knownin the art.

The locating component 1082 may perform various operations based ondetermining the location of the mobile apparatus 1000 within thefacility. For instance, the locating component 1082 may causeuser-interface data 1074 to be presented on the display 824 thatincludes a map of the facility and/or directions to an item for the userof the mobile apparatus 1000. Additionally, or alternatively, thelocating component 1082 may utilize the location of the cart, thephysical-layout data 1060, and/or item data 1054 and “push” userinterfaces to the display 824 that indicate various location-basedinformation, such as indications of deals for items located nearby,indications of items located nearby and on the user's shopping list,and/or other user-interface data 1074.

As further illustrated in the example of FIG. 10 , the mobile apparatus1000 may include a weight component 1084 that is configured to determineweight(s) of item(s) added to the mobile apparatus 1000 (e.g., itemslocated within the basket 108, located within the shelf 114, and/orlocated on the tray 118). For example, the weight component 1084 mayreceive sensor data 1044 generated by sensor(s) 1028, where thesensor(s) 1028 include weight sensors described herein. The weightcomponent 1084 may then be configured to analyze the sensor data 1044 inorder to determine a weight associated with the mobile apparatus 1000.For example, the weight component 1084 may be configured to analyze thesensor data 1044 in order to determine the respective weight measured byeach of the weight sensors. The weight component 1084 may then beconfigured to determine the weight associated with the mobile apparatus1000 using the determined weights. For example, the weight component1084 may determine the weight associated with the mobile apparatus 1000by adding each of the determined weights together.

The weight component 1084 may use these weights to determine the weightof an item added to the mobile apparatus 1000. For example, the weightcomponent 1084 may perform the processes above in order to determine afirst weight associated with the mobile apparatus 1000 at a first time.The weight component 1084 may then perform the processes above in orderto determine a second weight associated with the mobile apparatus 1000at a second, later time. In some examples, the weight component 1084receives the sensor data 1044 and/or determines the weights at theelapse of given time periods (e.g., every second, two seconds, fiveseconds, etc.). In some examples, the weight component 1084 receives thesensor data 1044 and/or determines the weights based on detecting thatan item has been added to the mobile apparatus 1000, such as based onthe output from the activity-detection component 1042, theitem-identification component 1050, and/or the event-determinationcomponent 1062.

Still, in some examples, the weight component 1084 receives the sensordata 1044 and/or determines the weights based on receiving an input. Forexample, before adding an item to the mobile apparatus 1000, the mobileapparatus 1000 may receive an input, such as an input indicating that anitem is being added to the mobile apparatus 1000 that is priced per unitweight. Based on the input, the mobile apparatus 1000 may receive sensordata 1044 and use the sensor data 1044 to determine the first weightassociated with the mobile apparatus 1000. Next, after the item is addedto the mobile apparatus 1000, the mobile apparatus may receiveadditional sensor data 1044 and use the additional sensor data 1044 todetermine the second weight of the mobile apparatus 1000 after the itemhas been added to the mobile apparatus 1000. In any of these examples,the weight component 1084 may use the first weight and the second weightto determine the weight of the item.

For example, the weight component 1084 may determine whether the secondweight is greater than the first weight. If the weight component 1084determines that the second weight is substantially equal to the firstweight, then the weight component 1084 may determine that a new item hasnot been added to the mobile apparatus 1000. This is because the totalweight of the mobile apparatus 1000 has not by enough weight that wouldindicate an item has been added to the mobile apparatus 1000. However,if the weight component 1084 determines that the second weight isgreater than the first weight, then the weight component 1084 maydetermine that a new item has been added to the mobile apparatus 1000.In some examples, the weight component 1084 may then determine theweight of the item using the weights, such as by taking the differencebetween the second weight and the first weight.

Additionally, or alternatively, in some examples, the weight component1084 may use the first weight and the second weight to determine that anitem has been removed from mobile apparatus 1000 (e.g., removed from thebasket 108, removed from the shelf 114, and/or removed off of the tray118). For example, the weight component 1084 may determine that thesecond weight is less than the first weight. Based on the determination,the weight component 1084 may determine that an item has been removedfrom the mobile apparatus 1000. In some examples, the weight component1084 may then determine the weight of the item using the weights, suchas by taking the difference between the first weight and the secondweight. Additionally, if the mobile apparatus 1000 already knows theweights of each of the item(s) that were previously added to the mobileapparatus 1000, the mobile apparatus 1000 may determine which item wasremoved by matching the weight of the item removed to the weight(s) ofitem(s) previously added to the mobile apparatus 1000.

In some examples, the weight component 1084 may further be configured todetermine a location of an item added to the mobile apparatus 1000 basedon the weights. For instance, when an item is added to the mobileapparatus 1000, the weight component 1084 may be configured to determinea respective change in weight measured by each of the weight sensors.The weight component 1084 may then be configured to use the changes inweight to determine the location of the item. For example, and if themobile apparatus 1000 includes a shopping cart, the weight component1000 may determine that the item was placed within the back of thebasket (e.g., placed close to the handlebar) when the weight sensorsassociated with the back wheel apparatuses detected a greater change inweight than the weight sensors associated with the front wheelapparatuses. For another example, and if the mobile apparatus 1000 againincludes a shopping cart, the weight component 1000 may determine thatthe item was placed at a front-right location within the basket when theweight sensor(s) associated with the front-right wheel apparatusdetected a greater change in weight than the weight sensors associatedwith other wheel apparatuses.

While the examples above describe the weight component 1084 as receivingthe sensor data 1044 from the weight sensors and then using the sensordata 1044 to determine the weights associated with the mobile apparatus1000, in other examples, the weight component 1084 may receive, fromeach wheel apparatus, data representing the respective weight measuredby each wheel apparatus. In such examples, the weight component 1084 mayreceive such data when the wheel apparatuses include one or morecomponents, such as the weight component 944, that already analyze thesensor data 1044 generated by the weight sensors in order to determinethe weights. Additionally, in such examples, the weight component 1084may then use the weights to determine the weight associated with themobile apparatus 1000. For example, the weight component 1084 maydetermine the weight associated with the mobile apparatus 1000 by addingeach of the weights together.

In some examples, the weight component 1084 (and/or another component)may perform one or more processes using the weights associated with theitems. For a first example, if an item is priced per unit weight, thenthe weight component 1084 (and/or another component) may determine aprice of the item using the weight and the price per unit weight. Forinstance, the weight component 1084 may determine the price as theweight of the item multiplied by the price per unit weight. In suchexamples, the item data 1054 may represent the price per unit weight ofthe item. For instance, if the price per unit weight of the item is$1.00 for every pound, and the measured weight of the item is 10 pounds,then the weight component 1084 may determine that the price of the itemis $10.00.

For a second example, the weight component 1084 (and/or anothercomponent, such as the item-identification component 1050) may verify anitem that has been added to or removed from the mobile apparatus 1000.For instance, and as discussed above, the item-identification component1050 may determine an initial identity of an item, such as by analyzingimage data generated by one or more of the capture assemblies 1008,using one or more of the processes described herein. The weightcomponent 1084 may then determine a weight of an item added to themobile apparatus 102. Additionally, the weight component 1084 (and/oranother component, such as the item-identification component 1050) mayuse the weight to verify the initial identity of the item. For instance,the item data 1054 may represent the expected weights of items, such asthe weight of the item. The weight component 1084 (and/or the othercomponent) may then compare the weight of the first item as representedby the item data 1054 to the weight of the item as measured by theweight sensor(s). The weight component 1084 (and/or the other component)may then verify the identity of the item when the measured weight iswithin a threshold percentage to the weight represented by the item data1054, or the weight component 1084 (and/or the other component) may notverify the identity of the item when the measured weight is outside ofthe threshold weight. The threshold may include, but is not limited to,0.1%, 0.5%, 1%, and/or any other percentage. When performing suchprocesses, the weight component 1084 (and/or the other component) areable to verify the identities of items add to the mobile apparatus 1000and/or items removed from the mobile apparatus 1000.

For a third example, the weight component 1084 (and/or anothercomponent) may determine a number of items added to the mobile apparatus1000. For instance, the item-identification component 1050 may againdetermine an identity of item(s) added to the mobile apparatus 1000while the weight component 1084 determines the weight of the item(s).The weight component 1084 (and/or the other component) may thendetermine the number of the item(s) added to the mobile apparatus 1000.For instance, the weight component 1084 (and/or the other component) mayuse the item data 1054 to determine the weight per unit item associatedwith the identified item(s). The weight component 1084 (and/or the othercomponent) may then determine the number of items using the measuredweight and the weight per unit item. In some instances, the weightcomponent 1084 (and/or the other component) may determine the number ofitems by dividing the measured weight by the weight per unit item. Forinstance, if the weight per unit item is 1 pound per unit item and themeasured weight is 10 pounds, then the weight component 1084 (and/or theother component) may determine that the number of items is 10 items.

In some examples, the virtual-cart management component 1066 may beconfigured to generate item weight data 1086 representing the weights ofthe items, which the virtual-cart management component 1066 may store aspart of the virtual shopping cart data 1068. Additionally, in someexamples, the item data 1054 may represent the prices per unit weight ofcertain items within the facility. In such examples, the virtual-cartmanagement component 1066 may be configured to use the item weight data1086 and the item data 1054 in order to determine the price of such anitem that is added to the mobile apparatus 1000. The mobile apparatus1000 may then be configured to provide the price of the item to theuser, such as using the display 824.

As described above, in some examples, the mobile apparatus 1000 mayrepresent, and/or include, the mobile apparatus 102. However, in otherexamples, the mobile apparatus 1000 may include any apparatus thatincludes at least one wheel apparatus for mobility. For example, themobile apparatus 1000 may include any apparatus that includes one wheelapparatus, two wheel apparatuses, three wheel apparatuses, four wheelapparatuses, five wheel apparatuses, and/or the like for mobility. Forexample, the mobile apparatus 1000 may include any apparatus thatincludes at least one frame 1088 and at least one compartment 1090. Thecompartment(s) 1090 may include any component of the mobile apparatus1000 that is configured to receive objects, such as user(s), item(s),and/or the like. For example, the compartment(s) 1090 may include, butare not limited to, a basket, a shelf, a tray, a flat surface, a seat,and/or the like that is configured to receive objects.

FIG. 11 illustrates a process for determining a weight of an item usingweight sensor(s). The processes described herein are illustrated ascollections of blocks in logical flow diagrams, which represent asequence of operations, some or all of which may be implemented inhardware, software or a combination thereof. In the context of software,the blocks may represent computer-executable instructions stored on oneor more computer-readable media that, when executed by one or moreprocessors, program the processors to perform the recited operations.Generally, computer-executable instructions include routines, programs,objects, components, data structures and the like that performparticular functions or implement particular data types. The order inwhich the blocks are described should not be construed as a limitation,unless specifically noted. Any number of the described blocks may becombined in any order and/or in parallel to implement the process, oralternative processes, and not all of the blocks need be executed.

FIG. 11 illustrates a flow diagram of an example process 1100 fordetermining a weight of an item added to the mobile apparatus 1000, inaccordance with examples of the present disclosure. At 1102, the process1100 may include receiving, at a first time, first sensor data generatedby one or more weight sensors associated with one or more wheelapparatuses. For instance, the mobile apparatus 1000 may receive thefirst sensor data generated by the weight sensor(s) associated with thewheel apparatus(es). In some examples, the weight sensor(s) may beincluded within the wheel(s) of the wheel apparatus(es). For instance,the weight sensor(s) may be disposed within the rim(s) of the wheel(s).In some examples, the mobile apparatus 1000 receives the sensor datacontinuously. In some examples, the mobile apparatus 1000 receives thesensor data at the elapse of given time periods. Still, in someexamples, the mobile apparatus 1000 receives the sensor data based on anevent being detected by the mobile apparatus 1000. The event mayinclude, but is not limited to, the mobile apparatus 1000 stopping, themobile apparatus 1000 beginning to move, an item being added to themobile apparatus 1000, an item being removed from the mobile apparatus1000, a user rummaging through the item(s) added to the mobile apparatus1000, the mobile apparatus 1000 receiving an input associated with anitem that is priced per unit weight, and/or the like.

At 1104, the process 1100 may include determining a first weight basedat least in part on the first sensor data. For instance, the mobileapparatus 1000 may analyze the first sensor data in order to determinethe first weight. In some examples, such as when the mobile apparatus1000 includes multiple wheel apparatuses with multiple weight sensors(and/or multiple loadcells), the mobile apparatus 1000 may analyze thefirst sensor data to determine a respective weight measured by eachweight sensor (and/or each loadcell). The mobile apparatus 1000 may thendetermine the first weight using the respective weights. For example,the mobile apparatus 1000 may determine the first weight by adding allof the respective weights together.

At 1106, the process 1100 may include receiving, at a second time,second sensor data generated by the one or more weight sensors. Forinstance, the mobile apparatus 1000 may receive the second sensor datagenerated by the weight sensor(s) associated with the wheelapparatus(es). In some examples, the mobile apparatus 1000 receives thesecond sensor data directly after receiving the first sensor data (e.g.,when the mobile apparatus 1000 continuously receives the sensor data).In some examples, the mobile apparatus 1000 receives the second sensordata at the elapse of a given time period after receiving the firstsensor data. Still, in some examples, the mobile apparatus 1000 receivesthe second sensor data based on an additional event being detected bythe mobile apparatus 1000.

At 1108, the process 1100 may include determining a second weight basedat least in part on the second sensor data. For instance, the mobileapparatus 1000 may analyze the second sensor data in order to determinethe second weight. In some examples, such as when the mobile apparatus1000 includes multiple wheel apparatuses with multiple weight sensors(and/or multiple loadcells), the mobile apparatus 1000 may analyze thesecond sensor data to determine a respective weight measured by eachweight sensor (and/or each loadcell). The mobile apparatus 1000 may thendetermine the second weight using the respective weights. For example,the mobile apparatus 1000 may determine the second weight by adding allof the respective weights together.

At 1110, the process 1100 may include determining a third weightassociated with an item based at least in part on the first weight andthe second weight. For instance, the mobile apparatus 1000 may determinethe third weight using the first weight and the second weight. In someexamples, the mobile apparatus 1000 determines the third weight as adifference between the second weight and the first weight. The mobileapparatus 1000 may then identify the item associated with the thirdweight. In some examples, the mobile apparatus 1000 identifies the itemusing one or more additional sensors, such as imaging devices of themobile apparatus 1000. In some examples, such as when the item is pricedper unit weight, the mobile apparatus 1000 may determine a price of theitem using the third weight. For example, the mobile apparatus 1000 maydetermine the price by multiplying the third weight by the price perunit weight.

In some examples, the mobile apparatus 1000 may then perform one or moreprocesses using the third weight associated with the item. For a firstexample, the mobile apparatus 1000 may detect an event, such as the itembeing added to or removed from the mobile apparatus 1000, using thethird weight. For a second example, the mobile apparatus 1000 maydetermine, using the third weight, a price of the item that is based ona price per unit weight associated with the item. For a third example,the mobile apparatus 1000 may verify an identity of the item that themobile apparatus 1000 determined using one or more other techniques,such as analyzing image data. Still, for a fourth example, the mobileapparatus 1000 may determine a number of units of the item that wereadded to or removed from the mobile apparatus 1000 using the thirdweight and a weight per unit of the item.

At 1112, the process 1100 may include storing event data representingthe third weight associated with the item. For instance, the mobileapparatus 1000 may generate event data (e.g., virtual shopping cartdata) representing at least the identifier associated with the item andthe third weight of the item. In some examples, the event data mayfurther represent the price of the item, such as when the item is pricedper unit weight, or the number of units associated with the weight.Additionally, the mobile apparatus 1000 may provide information to auser of the mobile apparatus 1000. For example, the mobile apparatus1000 may display the identifier associated with the item, the thirdweight of the item, the price of the item, and/or any other type ofinformation to the user.

FIG. 12 is a block diagram 1200 of an example materials handlingfacility 1202 (also referred to the “facility 1202”) that includes cartsand an item management system configured to generate output regardingevents occurring in the cart using sensor data. However, the followingdescription is merely one illustrative example of an industry andenvironment in which the techniques described herein may be utilized.

An example of the facility 1202 configured to store and manage inventoryitems is illustrated in FIG. 12 . The facility 1202 comprises one ormore physical structures or areas within which one or more items1204(1), 1204(2), . . . , 1204(Q) (generally denoted as 1204) may beheld. As used in this disclosure, letters in parenthesis such as “(Q)”indicate an integer result. The items 1204 comprise physical goods, suchas books, pharmaceuticals, repair parts, electronic gear, groceries, andso forth.

The facility 1202 may include one or more areas designated for differentfunctions with regard to inventory handling. In this illustration, thefacility 1202 includes a receiving area 1206, a storage area 1208, and atransition area 1210. The receiving area 1206 may be configured toaccept items 1204, such as from suppliers, for intake into the facility1202. For example, the receiving area 1206 may include a loading dock atwhich trucks or other freight conveyances unload the items 1204.

The storage area 1208 is configured to store the items 1204. The storagearea 1208 may be arranged in various physical configurations. In oneexample, the storage area 1208 may include one or more aisles 1212. Theaisles 1212 may be configured with, or defined by, inventory locations1214 on one or both sides of the aisle 1212. The inventory locations1214 may include one or more of shelves, racks, cases, cabinets, bins,floor locations, or other suitable storage mechanisms for holding orstoring the items 1204. The inventory locations 1214 may be affixed tothe floor or another portion of the facility's structure, or may bemovable such that the arrangements of aisles 1212 may be reconfigurable.In some examples, the inventory locations 1214 may be configured to moveindependently of an outside operator. For example, the inventorylocations 1214 may comprise a rack with a power source and a motor,operable by a computing device to allow the rack to move from onelocation within the facility 1202 to another.

One or more users 1216(1), . . . , 1216(U), carts 1218(1), . . . ,1218(T) (generally denoted as 1218) or other material handling apparatusmay move within the facility 1202. For example, the users 1216 may moveabout within the facility 1202 to pick or place the items 1204 invarious inventory locations 1214, placing them on the carts 1218 forease of transport. An individual cart 1218 is configured to carry orotherwise transport one or more items 1204. For example, a cart 1218 mayinclude a basket, a cart, a bag, and so forth. In other examples, otheragencies such as robots, forklifts, cranes, aerial drones, and so forth,may move about the facility 1202 picking, placing, or otherwise movingthe items 1204.

One or more sensors may be configured to acquire information in thefacility 1202. The sensors in the facility 1202 may include sensorsfixed in the environment (e.g., ceiling-mounted cameras) or otherwise,such as sensors in the possession of users (e.g., mobile phones,tablets, etc.) or sensors mounted on the carts 1218. The sensors mayinclude, but are not limited to, cameras, weight sensors (e.g., in thebottom of the carts 1218), radio frequency (RF) receivers, temperaturesensors, humidity sensors, vibration sensors, and so forth. The sensorsmay be, in some examples, in or on the cart 1218 or another location inthe facility 1202. In one example, the bottom of a basket of the carts1218 may include weight sensors configured to determine a weight of theitems 1204 placed thereupon.

During operation of the facility 1202, the sensors may be configured toprovide information suitable for identifying the movement of items 1204or other occurrences within the cart 1218. For example, a series ofimages acquired by a camera may indicate removal of an item 1204 from aparticular cart 1218 by one of the users 1216 and/or placement of theitem 1204 on or at least partially within one of the carts 1218.

While the storage area 1208 is depicted as having one or more aisles1212, inventory locations 1214 storing the items 1204, sensors, and soforth, it is understood that the receiving area 1206, the transitionarea 1210, or other areas of the facility 1202 may be similarlyequipped. Furthermore, the arrangement of the various areas within thefacility 1202 is depicted functionally rather than schematically. Forexample, multiple different receiving areas 1206, storage areas 1208,and transition areas 1210 may be interspersed rather than segregated inthe facility 1202.

The carts 1218 and/or the inventory location 1214 may include, or becoupled to, an item management system 1220. The item management system1220 is configured to identify interactions with and between users 1216,carts 1218, and/or the inventory location 1214, in one or more of thereceiving area 1206, the storage area 1208, or the transition area 1210.These interactions may include one or more events 1224. For example,events 1224 may include placing of an item 1204 in a cart 1218,returning of an item 1204 from the cart 1218 to an inventory location1214, placing an item 1204 on the inventory location 1214, removing anitem 1204 from the inventory location 1214, and/or any of the otherevents described herein. Other events 1224 involving users 1216 mayinclude the user 1216 providing authentication information in thefacility 1202, using a computing device at the facility 1202 toauthenticate identity to the item management system 1220, and so forth.

By determining the occurrence of one or more of the events 1224, theitem management system 1220 may generate output data 1222. The outputdata 1222 comprises information about the event 1224. For example, wherethe event 1224 comprises an item 1204 being removed from, or placed in,a cart 1218, the output data 1222 may comprise an item identifierindicative of the particular item 1204 that was removed from, or placedin, the cart 1218, a quantity of the item 1204, a user identifier of auser that removed the item 1204, and/or other output data 1222.

The item management system 1220 may use one or more automated systems togenerate the output data 1222. For example, an artificial neuralnetwork, one or more classifiers, or other automated machine learningtechniques may be used to process the sensor data and/or image data fromthe one or more sensors to generate output data 1222. The automatedsystems may operate using probabilistic or non-probabilistic techniques.For example, the automated systems may use a Bayesian network. Inanother example, the automated systems may use support vector machinesto generate the output data 1222 or the tentative results. The automatedsystems may generate confidence level data that provides informationindicative of the accuracy or confidence that the output data 1222 orthe tentative data corresponds to the physical world.

The confidence level data may be generated using a variety oftechniques, based at least in part on the type of automated system inuse. For example, a probabilistic system using a Bayesian network mayuse a probability assigned to the output as the confidence level.Continuing the example, the Bayesian network may indicate that theprobability that the item depicted in the image data corresponds to anitem previously stored in memory is 125%. This probability may be usedas the confidence level for that item as depicted in the image data.

In another example, output from non-probabilistic techniques such assupport vector machines may have confidence levels based on a distancein a mathematical space within which the image data of the item and theimages of previously stored items have been classified. The greater thedistance in this space from a reference point such as the previouslystored image to the image data acquired during the occurrence, the lowerthe confidence level.

In yet another example, the image data of an object such as an item 1204may be compared with a set of previously stored images. Differencesbetween the image data and the previously stored images may be assessed.For example, differences in shape, color, relative proportions betweenfeatures in the images, and so forth. The differences may be expressedin terms of distance with a mathematical space. For example, the colorof the object as depicted in the image data and the color of the objectas depicted in the previously stored images may be represented ascoordinates within a color space.

The confidence level may be determined based at least in part on thesedifferences. For example, the user 1216 may pick an item 1204(1) such asa perfume bottle that is generally cubical in shape from the inventorylocation 1214. Other items 1204 at nearby inventory locations 1214 maybe predominately spherical. Based on the difference in shape (cube vs.sphere) from the adjacent items, and the correspondence in shape withthe previously stored image of the perfume bottle item 1204(1) (cubicaland cubical), the confidence level that the user 1216 has picked up theperfume bottle item 1204(1) is high.

In some situations, the automated techniques may be unable to generateoutput data 1222 with a confidence level above a threshold result. Forexample, the automated techniques may be unable to distinguish whichitem 1204 in large a group of items a user 1216 has picked up from theinventory location 1214 and placed in the cart 1218. In othersituations, it may be desirable to provide human confirmation of theevent 1224 or of the accuracy of the output data 1222. For example, someitems 1204 may be deemed age restricted such that they are to be handledonly by users 1216 above a minimum age threshold.

In instances where human confirmation is desired, sensor data associatedwith an event 1224 may be processed to generate inquiry data. Theinquiry data may include a subset of the sensor data associated with theevent 1224. The inquiry data may also include one or more of one or moretentative results as determined by the automated techniques, orsupplemental data. The subset of the sensor data may be determined usinginformation about the one or more sensors. The subset of the sensor datamay include images that may show the item 1204 being placed in, orremoved from, the cart 1218. The subset of the sensor data may also omitimages from other cameras that did not have that item 1204 in the fieldof view. The field of view may comprise a portion of the scene in thecart 1218 that the camera is able to generate sensor/image data about.

Continuing the example, the subset of the sensor data may comprise avideo clip acquired by one or more cameras having a field of view thatincludes the item 1204. The tentative results may comprise the “bestguess” as to which items 1204 may have been involved in the event 1224.For example, the tentative results may comprise results determined bythe automated system that have a confidence level above a minimumthreshold.

The facility 1202 may be configured to receive different kinds of items1204 from various suppliers and to store them until a customer orders orretrieves one or more of the items 1204. A general flow of items 1204through the facility 1202 is indicated by the arrows of FIG. 12 .Specifically, as illustrated in this example, items 1204 may be receivedfrom one or more suppliers, such as manufacturers, distributors,wholesalers, and so forth, at the receiving area 1206. In variousexamples, the items 1204 may include merchandise, commodities,perishables, or any suitable type of item 1204, depending on the natureof the enterprise that operates the facility 1202. The receiving of theitems 1204 may comprise one or more events 1224 for which the itemmanagement system 1220 may generate output data 1222.

Upon being received from a supplier at receiving area 1206, the items1204 may be prepared for storage. For example, items 1204 may beunpacked or otherwise rearranged. An inventory management system of thefacility 1202 may include one or more software applications executing ona computer system to provide inventory management functions based on theevents 1224 associated with the unpacking or rearrangement. Theseinventory management functions may include maintaining informationindicative of the type, quantity, condition, cost, location, weight, orany other suitable parameters with respect to the items 1204. The items1204 may be stocked, managed, or dispensed in terms of countable,individual units or multiples, such as packages, cartons, crates,pallets, or other suitable aggregations. Alternatively, some items 1204,such as bulk products, commodities, and so forth, may be stored incontinuous or arbitrarily divisible amounts that may not be inherentlyorganized into countable units. Such items 1204 may be managed in termsof measurable quantity such as units of length, area, volume, weight,time, duration, or other dimensional properties characterized by unitsof measurement. Generally speaking, a quantity of an item 1204 may referto either a countable number of individual or aggregate units of an item1204 or a measurable amount of an item 1204, as appropriate.

After arriving through the receiving area 1206, items 1204 may be storedwithin the storage area 1208. In some examples, like items 1204 may bestored or displayed together in the inventory locations 1214 such as inbins, on shelves, hanging from pegboards, and so forth. In this example,all items 1204 of a given kind are stored in one inventory location1214. In other examples, like items 1204 may be stored in differentinventory locations 1214. For example, to optimize retrieval of certainitems 1204 having frequent turnover within a large physical facility1202, those items 1204 may be stored in several different inventorylocations 1214 to reduce congestion that might occur at a singleinventory location 1214.

When a customer order specifying one or more items 1204 is received, oras a user 1216 progresses through the facility 1202, the correspondingitems 1204 may be selected or “picked” from the inventory locations 1214containing those items 1204. In various examples, item picking may rangefrom manual to completely automated picking. For example, in oneexample, a user 1216 may have a list of items 1204 they desire and mayprogress through the facility 1202 picking items 1204 from inventorylocations 1214 within the storage area 1208, and placing those items1204 into a cart 1218. In other examples, employees of the facility 1202may pick items 1204 using written or electronic pick lists derived fromcustomer orders. These picked items 1204 may be placed into the cart1218 as the employee progresses through the facility 1202. Picking maycomprise one or more events 1224, such as the user 1216 in moving to theinventory location 1214, retrieval of the item 1204 from the inventorylocation 1214, and so forth.

After items 1204 have been picked, they may be processed at a transitionarea 1210. The transition area 1210 may be any designated area withinthe facility 1202 where items 1204 are transitioned from one location toanother or from one entity to another. For example, the transition area1210 may be a packing station within the facility 1202. When the item1204 arrives at the transition area 1210, the items 1204 may betransitioned from the storage area 1208 to the packing station.Information about the transition may be maintained by the itemmanagement system 1220 using the output data 1222 associated with thoseevents 1224.

In another example, if the items 1204 are departing the facility 1202 alist of the items 1204 may be used by the item management system 1220 totransition responsibility for, or custody of, the items 1204 from thefacility 1202 to another entity. For example, a carrier may accept theitems 1204 for transport with that carrier accepting responsibility forthe items 1204 indicated in the list. In another example, a customer maypurchase or rent the items 1204 and remove the items 1204 from thefacility 1202.

The item management system 1220 may access or generate sensor data aboutthe items 1204, the users 1216, the carts 1218, and so forth. The sensordata may be acquired by one or more of the sensors, data provided byother systems, and so forth. For example, the sensors may includecameras configured to acquire image data of items 1204 placed in thecarts 1218. The image data may comprise still images, video, or acombination thereof. The image data may be processed by the itemmanagement system 1220 to determine an item identifier for the items1204, a listing of items in the cart 1218 for a user 1216, and so forth.As used herein, the identity of the user of a cart 1218 may represent aunique identifier of the user (e.g., name, number associated with user,username, etc.), an identifier that distinguishes the user amongst otherusers being identified with the environment, or the like.

The item management system 1220, or systems coupled thereto, may beconfigured to identify the user 1216. In one example, this determinationmay comprise comparing sensor data with previously stored identity data.For example, the user 1216 may be identified by showing their face to afacial recognition system, by presenting a token carrying authenticationcredentials, providing a fingerprint, scanning a barcode or other typeof unique identifier upon entering the facility, and so forth. Identityof the user 1216 may be determined before, during, or after entry to thefacility 1202 and/or interaction with a cart 1218. Determination of theuser's 1216 identity may comprise comparing sensor data associated withthe user 1216 in the facility 1202 and/or with the cart 1218 topreviously stored user data. In some examples, the output data 1222 maybe transmitted over a network 1226 to server(s) 1228.

Separate instances of these programs can be executed on or distributedacross any number of separate computer systems. Thus, although certainsteps have been described as being performed by certain devices,software programs, processes, or entities, this need not be the case,and a variety of alternative examples will be understood by those havingordinary skill in the art.

Additionally, those having ordinary skill in the art readily recognizethat the techniques described above can be utilized in a variety ofdevices, environments, and situations. Although the subject matter hasbeen described in language specific to structural features ormethodological acts, it is to be understood that the subject matterdefined in the appended claims is not necessarily limited to thespecific features or acts described. Rather, the specific features andacts are disclosed as exemplary forms of implementing the claims.

While the foregoing invention is described with respect to the specificexamples, it is to be understood that the scope of the invention is notlimited to these specific examples. Since other modifications andchanges varied to fit particular operating requirements and environmentswill be apparent to those skilled in the art, the invention is notconsidered limited to the example chosen for purposes of disclosure, andcovers all changes and modifications which do not constitute departuresfrom the true spirit and scope of this invention.

The invention claimed is:
 1. A mobile cart comprising: an upper frame; abasket coupled to the upper frame, the basket configured to hold atleast an item; a wheel frame; a substantially vertical member extendingsubstantially downward from the upper frame and to a top of the wheelframe; a first wheel apparatus coupled to a bottom of the wheel frame,the first wheel apparatus comprising a first weight sensor; a secondwheel apparatus coupled to the bottom of the wheel frame, the secondwheel apparatus comprising a second weight sensor; a third wheelapparatus coupled to the bottom of the wheel frame, the third wheelapparatus comprising a third weight sensor; a fourth wheel apparatuscoupled to the bottom of the wheel frame, the fourth wheel apparatuscomprising a fourth weight sensor, wherein: the first weight sensorfurther comprises a first loadcell and a second loadcell located withina first circular component of the first wheel apparatus; the secondweight sensor comprises a third loadcell and a fourth loadcell locatedwithin a second circular component of the second wheel apparatus; thethird weight sensor comprises a fifth loadcell and a sixth loadcelllocated within a third circular component of the third wheel apparatus;and the fourth weight sensor comprises a seventh loadcell and an eighthloadcell within a fourth circular component of the fourth wheelapparatus; one or more processors; and one or more computer-readablemedia storing instructions that, when executed by the one or moreprocessors, cause the one or more processors to perform operationscomprising: receiving first sensor data from the first weight sensor;receiving second sensor data from the second weight sensor; receivingthird sensor data from the third weight sensor; receiving fourth sensordata from the fourth weight sensor; determining a weight of the itembased at least in part on the first sensor data, the second sensor data,the third sensor data, and the fourth sensor data; and generating itemdata representing at least an identifier of the item and the weight ofthe item.
 2. The mobile cart as recited in claim 1, wherein: the firstwheel apparatus further comprises: a first hub; a first circularcomponent disposed around the first hub, wherein the first weight sensoris disposed within the first circular component; and a first caster thatattaches the first wheel apparatus to the bottom of the wheel frame; thesecond wheel apparatus further comprises: a second hub; a secondcircular component disposed around the second hub, wherein the secondweight sensor is located within the second circular component; and asecond caster that attaches the second wheel apparatus to the bottom ofthe wheel frame; the third wheel apparatus further comprises: a thirdhub; a third circular component disposed around the third hub, whereinthe third weight sensor is disposed within the third circular component;and a third caster that attaches the third wheel apparatus to the bottomof the wheel frame; and the fourth wheel apparatus further comprises: afourth hub; a fourth circular component disposed around the fourth hub,wherein the fourth weight sensor is disposed within the fourth circularcomponent; and a fourth caster that attaches the fourth wheel apparatusto the bottom of the wheel frame.
 3. A mobile apparatus comprising: aframe; a compartment coupled to the frame; and a wheel coupled to theframe, the wheel comprising: a circular component; a weight sensordisposed within the circular component; a communication interface forsending sensor data generated by the weight sensor; and a hub disposedwithin the circular component, and wherein the weight sensor includesone or more loadcells couples to the hub.
 4. The mobile apparatus asrecited in claim 3, wherein the wheel is a first wheel, the circularcomponent is a first circular component, the weight sensor is a firstweight sensor, the communication interface is a first communicationinterface, and the sensor data is first sensor data, and wherein themobile apparatus further comprises a second wheel coupled to the frame,the second wheel comprising: a second circular component; a secondweight sensor disposed within the second circular component; and asecond communication interface for sending second sensor data generatedby the second weight sensor.
 5. The mobile apparatus as recited in claim3, wherein the wheel is a first wheel, the circular component is a firstcircular component, the weight sensor is a first weight sensor, thecommunication interface is a first communication interface, and thesensor data is first sensor data, and wherein the mobile apparatusfurther comprises: a second wheel coupled to the frame, the second wheelcomprising: a second circular component; a second weight sensor disposedwithin the second circular component; and a second communicationinterface for sending second sensor data generated by the second weightsensor; and a third wheel coupled to the frame, the third wheelcomprising: a third circular component; a third weight sensor disposedwithin the third circular component; and a third communication interfacefor sending third sensor data generated by the third weight sensor. 6.The mobile apparatus as recited in claim 3, wherein: the framecomprises: an upper frame; and a wheel frame; the compartment comprisesa basket coupled to the upper frame; the wheel is a first wheel coupledto the wheel frame; the weight sensor is a first weight sensor; and themobile apparatus further comprises: a second wheel coupled to the wheelframe, the second wheel comprising a second weight sensor; a third wheelcoupled to the wheel frame, the third wheel comprising a third weightsensor; and a fourth wheel coupled to the wheel frame, the fourth wheelcomprising a fourth wheel sensor.
 7. The mobile apparatus as recited inclaim 3, wherein: the circular component comprises: a rim; and a tiredisposed around the rim; the weight sensor is disposed within the rim;and the mobile apparatus further comprises a caster that couples thewheel the frame.
 8. The mobile apparatus as recited in claim 3, whereinthe weight sensor is disposed within the wheel such that the weightsensor remains perpendicular with respect to a ground plane when thecircular component rotates.
 9. The mobile apparatus as recited in claim3, wherein the wheel further comprises at least one of: a lockingmechanism; one or more batteries; or a generator.
 10. The mobileapparatus as recited in claim 3, wherein the sensor data is first sensordata, and wherein the mobile apparatus further comprises: one or moreprocessors; and one or more computer-readable media storing instructionsthat, when executed by the one or more processors, cause the one or moreprocessors to perform operations comprising: receiving, at a first time,the first sensor data generated by the weight sensor; determining afirst weight based at least in part on the first sensor data; receiving,at a second time, second sensor data generated by the weight sensor;determining a second weight based at least in part on the second sensordata; and determining a weight of an item based at least in part on thefirst weight and the second weight.
 11. The mobile apparatus as recitedin claim 3, wherein the wheel is a first wheel, the circular componentis a first circular component, the weight sensor is a first weightsensor, the communication interface is a first communication interface,and the sensor data is first sensor data, and wherein the mobileapparatus further comprises: a second wheel coupled to the frame, thesecond wheel comprising: a second circular component; a second weightsensor disposed within the second circular component; and a secondcommunication interface, one or more processors; and one or morecomputer-readable media storing instructions that, when executed by theone or more processors, cause the one or more processors to performoperations comprising: receiving the first sensor data generated by thefirst weight sensor; receiving second sensor data generated by thesecond weight sensor; and determining a weight of an item based at leastin part on the first sensor data and the second sensor data.
 12. Themobile apparatus as recited in claim 3, further comprising: an imagingdevice, one or more processors; and one or more computer-readable mediastoring instructions that, when executed by the one or more processors,cause the one or more processors to perform operations comprising:receiving image data generated by the imaging device; determining anidentity of an item based at least in part on the image data; receivingthe sensor data generated by the weight sensor; determining a weight ofthe item based at least in part on the sensor data; determining a priceper unit weight associated with the item; determining a price of theitem based at least in part on the weight and the price per unit weight;and generating item data representing at least the identity of the item,the weight of the item, and the price.
 13. The mobile apparatus asrecited in claim 3, further comprising: an imaging device, one or moreprocessors; and one or more computer-readable media storing instructionsthat, when executed by the one or more processors, cause the one or moreprocessors to perform operations comprising: receiving image datagenerated by the imaging device; determining an identity of an itembased at least in part on the image data; receiving the sensor datagenerated by the weight sensor; determining a first weight based atleast in part on the sensor data; determining a second weight associatedwith the item; and verifying the identity of the item based at least inpart on the first weight and the second weight.
 14. The mobile apparatusas recited in claim 3, further comprising: an imaging device, one ormore processors; and one or more computer-readable media storinginstructions that, when executed by the one or more processors, causethe one or more processors to perform operations comprising: receivingimage data generated by the imaging device; determining an identity ofan item based at least in part on the image data; receiving the sensordata generated by the weight sensor; determining a first weightassociated with one or more items based at least in part on the sensordata; determining a second weight associated with a unit of the item;determining a number of the item based at least in part on the firstweight and the second weight; and generating item data representing atleast the identity of the item and the number of the item.
 15. A wheelcomprising: a hub; a circular component disposed around the hub; aweight sensor disposed within the circular component, the weight sensorconfigured to generate sensor data representing weight and wherein theweight sensor comprises a first loadcell coupled to a first side of thehub and a second loadcell coupled to a second side of the hub; and acommunication interface, the communication interface to send sensor datato one or more computing devices associated with a mobile apparatus. 16.The wheel as recited in claim 15, wherein the communication interfacecomprises at least one of: a wired interface that connects to the one ormore computing devices; or a wireless interface that communicates withthe one or more computing devices using a wireless network.
 17. Thewheel as recited in claim 15, further comprising at least one of: alocking mechanism; one or more batteries disposed within the circularcomponent; or a generator disposed within the circular component. 18.The mobile cart as recited in claim 1, wherein the first circularcomponent of the first wheel apparatus further comprises: a first side,wherein the first loadcell is coupled to the first side; and a secondside, wherein the second loadcell is coupled to the second side.
 19. Themobile apparatus as recited in claim 3, wherein the hub comprises aninner hub and an outer hub, wherein at least one or more loadcells arecoupled between the inner hub and the outer hub.
 20. The wheel asrecited in claim 15, wherein the hub comprises an inner hub and an outerhub, and wherein at least one or more loadcells care coupled between theinner hub and the outer hub.